Crane device with an extensible gripper mechanism



J. E. HENRY Dec. 21, 1965 CRANE DEVICE WITH AN EXTINSIBLE GRIPPERMECHANISM Filed Feb. 5, 1964 2 Sheets-Sheet 1 Y, Deceased, HENRY,Administrotrix,

R m m m JAMES E. HENR By HENRIETTE J. BY

ATTORNEY J. E. HENRY Dec. 21, 1965 CRANE DEVICE WITH AN EXTINSIBLEGRIPPER MECHANISM Filed Feb. 5, 1964 2 Sheets-Sheet 2 INVENTOR. JAMES E.HENRY, Deceased, BV HENRIETTE J. HENRY, BY Administratrix, m 6. QM

ATTORNEY United States Patent Ofi ice 3,224,615 CRANE DEVECE WITH ANEXTENSIBLE GlRllPPER MECHANISM James E. Henry, deceased, late of Newark,Del., by Henriette J. Henry, administratrix, Newark, DeL, assignor tothe United States of America as represented by the United States AtomicEnergy Commission Filed Feb. 3, 1964, Ser. No. 342,864 15 Claims. (Cl.214-658) This invention relates to an improved crane device and moreparticularly to an improved extensible crane device adapted to insert,remove, and transfer components within a confined space.

For the protection of personnel and the environment surrounding anuclear reactor, contemporary reactor designs generally provide acontainment shell enclosing and isolating the reactor pressure vesselwith its associated accessories and components. Containment shells ofseveral geometries are used, including spherical shape and cylindricalshape with hemispherical end closures, and due to the expense ofbuilding large containment shells, they are generally designed as smallas practicable for efiicient reactor operation. The upper portion of acontainment shell is usually allocated for storage and operation ofreactor refueling machines, where the reactor is the top loading type,conventional cranes, and selected test and experimental equipment.

A. top loading reactor refueling machine usually consists of avertically-mounted, mobile, shielded receptacle (referred to in the artas a coffin) within which is disposed an associated crane device forinsertion, removal, and transfer of reactor components, particularlyfuel elements and control rods. It is particularly important that such acofiin, including the associated crane, requires as little headroom aspracticable because of the limited space available for operation andstorage of this equipment within the containment shell. Excessivelylarge equipment requires larger, more expensive containment shells.Since the size of the refueling machine coffin generally depends uponthe maximum length of reactor component to be removed or inserted, it isdesirable to limit the overall length of the crane device, in storageposition, to as close to the length of the longest component to behandled as possible. On the other hand, the crane gripper end must becapable of traveling a linear path almost two times the overall extendedcrane length to completely remove or insert a reactor component.

It is therefore, a general object of the present invention to provide animproved crane device capable of operation and storage within a limitedor confined space.

It is an other object of this invention to provide a compact extensiblecrane device for the transfer of components within a limited space.

Another object of this invention is to provide an improved extensiblecrane device for inserting and removing the components of a nuclearreactor.

Still another object is to provide an improved extensible crane deviceof economical and maintenance free design.

The specific nature of the present invention, as well as other objectsand advantages thereof, will become apparent from the following detaileddescription and claims, taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is a perspective partially cutaway view of the instant cranedevice mechanism showing details of the components of the carrier frame.

FIG. 2 is a schematic side view of the crane device of the invention infully retracted position.

FIG. 3 is a schematic side view of the crane device of the invention inretracted or rest position.

3,224,615 Patented Dec. 21, 1965 FIG. 4 is a schematic side view of thesame crane device in maximum extended position.

The present invention embodies a novel extensible crane device in whichmaximum progressive linear movement is provided by a mechanismcomprising a unique combination of a closed loop chain drive and anextension rod rack and pinion drive operable from a single power source.

Referring now to a preferred embodiment of the crane device mechanism ofthe present invention illustrated in FIG. 1, a box-like housing orcarrier frame 10 is positioned with its longitudinal axis generallyvertical and is guided in a vertical path by a pair of guide bars 11, oneach side of frame 10 (only one pair being shown) which are spaced toprovide groove 40. Upper and lower pairs of guide rollers 12 and 13,respectively, are rotatably mounted on opposite sides at the rearportion of carrier frame 10 in a position to operate within slot 40.Guide bars 11, are fixedly mounted in a vertical position within amobile, shield coflin (not shown) previously mentioned.

An extension rod 14 is slidably disposed through openings 15 and 16 inthe upper and lower ends, respectively, of the carrier frame 10 and isadapted to reciprocate through the frame in a substantially linearvertical path. The extension rod 14, which is preferably hollow, isprovided on one side with integral machined gear teeth to comprise rack17 which extends substantially the length of the rod. A gripper device18, attached to the lower end of extension rod 14, may be of a wellknown Wedgeactuated expandable-fingers type which is actuated remotelyby an actuating rod 19 which extends upward concentrically within hollowextension rod 14. The gripping device 18 and the upper ends of thecomponents which are to be manipulated are designed for cooperativeengagement in a manner well known in the manipulating art. Thereforedetails of the gripper and actuator are not shown in this specificationsince they would be obvious to persons familiar with this art. Rack 17meshes with pinion 20 afiixed to a horizontal pinion drive shaft 21,which is journalled near its ends in the side plates of carrier frame 10as at 22. A pair of drive sprockets 23 and 24 are rigidly attached tothe respective ends of pinion drive shaft 21 which is disposed between apair of parallel idler shafts 25 and 26 also journalled near their endsas at 27 and 28 in carrier frame 10. Idler shafts 25 and 26 each haverigidly mounted on their ends a pair of idler sprockets 29-30 and 31-32,respectively. The three sprockets on each side of carrier 10 are afiixedin the same plane. Two parallel, closed loop drive chains 33 and 34 (seeFIGS. 24), each of which is threaded around one of the drive sprocketson a path defined by the position of the idler sprockets, are mountedvertically with one run of each loop, in cooperation with guide bars 11,defining the travel of carrier frame 10. As can be seen from thedrawings, each chain engages the teeth on all three sprockets passingover the front of the idler sprockets (as seen in FIG. 1), then betweenthe idler sprockets and drive sprocket and around the rear of the drivesprocket. A horizontal carrier support bar 35 extends between and isfixedly connected at its ends to the drive chains. Bar 35 is adapted toengage the lower end of carrier frame 10 and lift the carrier when inthe engaged position on an upward run of the drive chain. Stop bar 36 isaifixed to the coffin frame to limit the downward movement of carrier 10and support it in the lowermost position.

The operation of the device is readily seen from FIGS. 2, 3 and 4 whichshow schematically the run of the closed loop drive chains 33 and 34 inrelation to the three principal operating positions has been given aseparate arbitrary designation; viz., FIG. 2, fully retracted position;FIG. 3, normal retracted or rest position; and FIG. 4, maximum extendedposition. Numerical designations are the same for each componentthroughout the figures .which are left side views of FIG. 1 with certainparts omitted for simplification. Each closed loop drive chain ismounted between pairs of upper and lower sprockets 37 and 38,respectively, mounted on horizontal shafts with either one serving asthe chain drive sprocket. In the preferred embodiment, the uppersprocket serves as the chain drive and is connected to a reversiblemotor (not shown) through a reducer drive and over-running clutch (notshown) which provides positive upward movement, but slips on downwardmovement should the carrier frame or gripper 18 encounter an obstacle.Carrier and ending with the fully retracted position shown in FIG. 2.Rotating upper sprocket 37 in a counterclockwise direction drives theloop drive chain 33 thereby mov ing the chain run with the carriersupport bar 35 and carrier frame 10 in a downward direction. From thisposition, the carrier frame 10 and extension rod 14 move as a unit,i.e., with no relative movement between them, since the carrier iswholly supported by bar 35 and there is nothing to rotate sprocket 23,until the downward movement of the carrier frame 10 is arrested bycarrier stop 36, as shown in FIG. 3. It should be noted that from theposition of FIG. 2 to the retracted position of FIG. 3, there is norelative movement between the carrier frame 10 and the adjacent portionof the closed loop drive chain 33.

From the retracted position shown in FIG. 3, with the carrier frame 10stationary and supported by stop bar 36, continuing rotation of theupper sprocket 37 drives the loop drive chain through the carrier 10thereby rotating the pinion drive sprocket 23 (FIG. 1) which in turnrotates pinion 20 which drives rack 17 and extension rod 14 downward tothe maximum extended position shown in FIG. 4. The latter position isthe usual one where the gripper is actuated. For example, as used inservicing a nuclear reactor core, the gripper device 18, automaticallylatches onto the fuel element or other component to be removed from thereactor. If a component is being inserted, rather than removed, thegripper device 18, upon reaching the desired position within thereactor, is actuated remotely by means of actuating rod 19, shown inFIG. 1, to release the component from the gripper.

At the position Where the carrier frame 10 reaches a stationary positionin contact with carrier stop 36, the continued movement of the loopdrive chain carries support bar 35 with it to disengage it from thecarrier frame 10, around lower sprocket 38 and onto the chain runopposite the carrier frame 10. Support bar 35 is attached to the chains33 and 34 in some convenient manner to avoid interfering with theengagement of the chains with the sprockets.

From the lowest point of travel or maximum extended position representedin FIG. 4, the rotational direction of the upper sprocket 37 is reversedto reverse the direction of the drive chain 33, which in turn reversesthe direction of linear movement of the extension rod 14, by the rackand pinion action, to withdraw the gripped component from within thereactor. The weight of the carrier assembly holds the carrier stationaryagainst stop 36 while the chain rotates sprocket 23 which in turnrotates pinion 20 to drive rod 14 upward. When the chain reaches aposition where the supportbar 35 re-engages the carrier frame 10 (FIG.3), the relative movement be-, tween the extension rod 14 and thecarrier frame 1t) ceases and the frame and extension rod move upward asa unit to the fully retracted position of FIG. 2 for the complete cycle.Y

Thus, a reactor component may be withdrawn in its entirety from withinthe reactor core and into the shielded coffin" enclosing the extensiblecrane. After horizontal movement of the shielded coffin refuelingmachine over a transfer storage area within the reactor containmentshell, the operational procedure of the crane is repeated for dischargeof the reactor component. The process may be reversed for insertingcomponents into the reactor. For storage purposes, the crane extensionrod 14 is lowered into the shielded coffin to the retracted or restposition illustrated in FIG. 3, which provides a compact heightapproximately one-half the crane height in fully retracted position.

Although this invention is described in detail with reference to itspreferred embodiment, it is contemplated that obvious modifications willoccur to those skilled in the art and that such may be made withoutdeparting from the scope of this invention which is limited only asindicated by the appended claims.

What is claimed is:

1. An improved crane device which comprises:

(a) A carrier frame adapted to move reciprocally in a substantiallylinear path;

(b) at least one closed loop drive chain, one run of which defines thepath of said carrier frame;

(c) a support bar member adapted to support said frame upon said runthroughout said path without progressive relative motion between saidframe and said run while supported thereon;

(d) an extension rod longitudinally disposed in said carrier frame inextensible recpirocatory relationship, said rod having a gripper devicedisposed at one extremity and a side of said rod defining an integralrack;

(e) a pinion means journalled in said frame, said pinion means beingmeshed with said rack;

(f) a drive sprocket in meshed relationship with said run of said drivechain and adapted to rotate said pinion means;

(g) a stop means, disposed at one extremity of said path, adapted toarrest the motion of said carrier frame therebeyond, thereby causingsaid pinion and said extension rod to respond to relative motion betweensaid frame and proximate chain in said run by progressively extendingsaid rod from said frame in the same direction as the motion of saidproximate chain.

2. The improved crane device of claim 1 in which a means is provided toremotely actuate said gripper device.

3. The improved crane device of claim 1 wherein said carrier frame isprovided with idler means adapted to define the path of said drive chainaround said drive sprocket.

4. An improved crane device which comprises:

(a) A carrier frame adapted to move reciprocally in a substantiallylinear path;

(b) at least one closed loop drive chain, one run of which defines thepath of said carrier frame;

(c) a support bar member adapted to support said frame upon said runthroughout said path without progressive relative motion between saidframe and said run while supported thereon;

(d) an extension rod longitudinally disposed in said carrier frame inextensible reciprocatory relationship, said rod having a gripper devicedisposed at one extremity and a side of said rod defining an integralrack;

(e) a pinion drive shaft journalled in said carrier frame, said shafthaving a pinion affixed thereto, said pinion being in meshedrelationship with said rack;

(f) at least one drive sprocket mounted on said shaft in meshedrelationship with said run of said drive chain and adapted to rotatesaid pinion drive shaft;

(g) a stop means, disposed at one extremity of said path, adapted toarrest the motion of said carrier frame therebeyond, thereby causingsaid pinion and said extension rod to respond to relative motion betweensaid frame and proximate chain in said run by progressively extendingsaid rod from said frame in the same direction as the motion of saidproximate chain.

5. The improved crane device of claim 4 in which a means is provided toremotely actuate said gripper device.

6. The improved crane device of claim 4 wherein said carrier frame isprovided with a pair of idler shafts journalled in said carrier frame,each of said idler shafts having at least one idler sprocket disposed inthe same plane as said drive sprockets, said idler sprockets definingthe path of said drive chain around said drive sprocket.

7. An improved lifting crane device which comprises:

(a) A rigid carrier frame adapted to move reciprocally in asubstantially linear vertical path;

(b) at least one vertical standing closed loop drive chain, one verticalrun of which defines the vertical path of said carrier frame;

(c) a support bar member adapted to support said frame upon saidvertical run throughout said vertical path without progressive relativemotion between said frame and said vertical run while supported thereon;

(d) a vertical extension rod longitudinally disposed in said carrierframe in extensible reciprocatory relationship, said rod having agripper device disposed at its lower extremity, and a side of said roddefining an integral vertical rack;

(e) a pinion drive shaft journalled in said frame, said shaft having apinion attached thereto, said pinion being in meshed relationship withsaid vertical rack;

(f) a drive sprocket mounted in meshed relationship with said verticalrun of said drive chain and adapted to rotate said pinion drive shaft;

(g) a stop means, disposed obstructively at the lower extremity of saidvertical path and adapted to arrest the downward motion of said carrierframe therebeyond, thereby causing said pinion and said extension rod torespond to relative motion between said frame and proximate chain insaid vertical run by progressively extending said rod from said frame inthe same direction as the motion of said proximate chain.

8. The improved crane device of claim 7 in which a means is provided toremotely actuate said gripper device.

9. The improved crane device of claim 7 wherein said carrier frame isprovided with idler means adapted to define the path of said drive chainaround said drive sprocket.

10. A manipulating device comprising:

(a) A movable carrier frame;

(b) elongated rod means extending through said carrier frame in slidablerelationship therewith;

(c) pinion drive means rotatably mounted on said carrier frame engagingsaid elongated rod to reciprocate said rod upon rotation of said pinion;

(d) chain drive means adapted to rotate said pinion means;

(e) means on said chain drive means to cause said carrier frame to movewith the chain;

(f) means to obstruct the movement of said carrier frame in onedirection so that continued movement of said chain will reciprocate saidrod;

(g) gripping means on one end of said rod adapted to engage an object tobe manipulated and means for operating said gripping means.

11. The device of claim 10 wherein said pinion drive means is a gear anda gear rack integral with said rod is provided on one side andsubstantially the full length thereof.

12. The device of claim 10 wherein said chain drive means is a closedloop chain provided with drive means therefor.

13. The device of claim 10 wherein said means to move the carrier framewith the chain is a support bar member attached to the chain drive meansin a manner to engage the carrier frame at a predetermined position inthe cycle of operation.

14. The device of claim 13 wherein a guide means is provided for guidingsaid carrier frame in a predetermined line of travel and comprises guidebars fixedly mounted along said line of travel adapted to provide aguide slot on each side of said carrier frame and guide rollers mountedon each side of said carrier frame and adapted to operate within saidslot.

15. The device of claim 13 wherein (a) said carrier frame and rodoperate in a substantially vertical line of travel;

(b) said obstruction means is a fixed block member positioned to contactthe lower end of said carrier frame at its lowermost position of travel;

(c) said chain drive means is a closed loop chain having its runsdisposed substantially vertical;

((1) and said support bar is adapted to engage the lower end of saidcarrier frame to lift the carrier frame assembly when the rod has beenelevated to its highest point relative to the carrier frame.

References Cited by the Examiner UNITED STATES PATENTS 1,896,063 2/1933Bottini. 2,428,856 10/ 1947 Sinclair. 2,905,338 9/1959 Koch 214-1 GERALDM. FORLENZA, Primary Examiner.

10. A MANIPULATINGY DEVICE COMPRISING: (A) A MOVABLE CARRIER FRAME; (B)ELONGATED ROD MEANS EXTENDING THROUGH SAID CARRIER FRAME IN SLIDABLERELATIONSHIP THEREWITH; (C) PINION DRIVE MEANS ROTATABLY MOUNTED ON SAIDCARRIER FRAME ENGAGING SAID ELONGATED ROD TO RECIPROCATE SAID ROD UPONROTATION OF SAID PINION; (D) CHAIN DRIVE MEANS ADAPTED TO ROTATE SAIDPINION MEANS; (E) MEANS ON SAID CHAIN DRIVE MEANS TO CAUSE SAID CARRIERFRAME TO MOVE WITH THE CHAIN; (F) MEANS TO OBSTRUCT THE MOVEMENT OF SAIDCARRIER FRAME IN ONE DIRECTION SO THAT CONTINUED MOVEMENT OF SAID CHAINWILL RECIPROCATE SAID ROD; (G) GRIPPING MEANS ON ONE END OF SAID RODADAPTED TO ENGAGE AN OBJECT TO BE MANIPULATED AND MEANS FOR OPERATINGSAID GRIPPING MEANS.